#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Float64MultiArray.h"
#include <linux/input.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <iostream>
#include <vector>
#include <fstream>
#include <stdio.h>
#include <stdlib.h>


using namespace std;

namespace key_board
{

  class key_board{


    public:

      key_board();
      ~key_board();
      void read_key_board();
      void key_board_run();
      void  send_control_command(int16_t speed_enable,int16_t target_speed,
            int16_t dir_enable,int16_t target_angle,int16_t  target_dir);

    private:

      ros::Publisher Control_Command;
      ros::NodeHandle nh;
      struct input_event event;
      int key_fd;
      //string key_board_event;

  };
}
